Abstract
This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.
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